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RTK with the Assistance of an IMU-Based Pedestrian Navigation Algorithm for Smartphones

School of Electronics Engineering and Computer Science, Peking University, Beijing 100871, China
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Author to whom correspondence should be addressed.
Sensors 2019, 19(14), 3228; https://doi.org/10.3390/s19143228
Received: 14 June 2019 / Revised: 18 July 2019 / Accepted: 19 July 2019 / Published: 22 July 2019
(This article belongs to the Section Remote Sensors)
Real-time kinematic (RTK) technique is widely used in modern society because of its high accuracy and real-time positioning. The appearance of Android P and the application of BCM47755 chipset make it possible to use single-frequency RTK and dual-frequency RTK on smartphones. The Xiaomi Mi 8 is the first dual-frequency Global Navigation Satellite System (GNSS) smartphone equipped with BCM47755 chipset. However, the performance of RTK in urban areas is much poorer compared with its performance under the open sky because the satellite signals can be blocked by the buildings and trees. RTK can't provide the positioning results in some specific areas such as the urban canyons and the crossings under an overpass. This paper combines RTK with an IMU-based pedestrian navigation algorithm. We utilize attitude and heading reference system (AHRS) algorithm and zero velocity update (ZUPT) algorithm based on micro electro mechanical systems (MEMS) inertial measurement unit (IMU) in smartphones to assist RTK for the sake of improving positioning performance in urban areas. Some tests are carried out to verify the performance of RTK on the Xiaomi Mi 8 and we respectively assess the performances of RTK with and without the assistance of an IMU-based pedestrian navigation algorithm in urban areas. Results on actual tests show RTK with the assistance of an IMU-based pedestrian navigation algorithm is more robust and adaptable to complex environments than that without it. View Full-Text
Keywords: GNSS; android smartphones; RTK; AHRS; ZUPT; MEMS-IMU GNSS; android smartphones; RTK; AHRS; ZUPT; MEMS-IMU
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Niu, Z.; Nie, P.; Tao, L.; Sun, J.; Zhu, B. RTK with the Assistance of an IMU-Based Pedestrian Navigation Algorithm for Smartphones. Sensors 2019, 19, 3228.

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